#imu #sensor-fusion #math #no-alloc #vqf

no-std vqf-rs

A no-std, dependency-free port of VQF sensor fusion algorithm for IMUs

3 unstable releases

0.2.0 Apr 27, 2024
0.1.1 Apr 25, 2024
0.1.0 Apr 25, 2024

#1049 in Algorithms

Download history 4/week @ 2024-05-25 9/week @ 2024-06-01 1/week @ 2024-06-08 6/week @ 2024-07-27

101 downloads per month

MIT license

92KB
1.5K SLoC

vqf-rs

A no-std, dependency-free port of VQF sensor fusion algorithm for IMUs.

Currently a pretty direct port of the original C++ implementation here; further cleanup... would be good.


lib.rs:

An implementation of the VQF IMU orientation estimation filter in pure Rust.

This is, currently, a pretty direct port of the C++ implemenataion in https://github.com/dlaidig/vqf; further efforts to make the code more idiomatic may be helpful.

The main entry point for this crate is [VQF]; look there to get started.

This crate needs a library for floating-point arithmetic; currently std, libm, and micromath is supported. Notably, micromath implies f32 as micromath does not provide f64 arithmetic.

Dependencies

~160KB